JP7158897B2 - Lid member mounting device and system - Google Patents

Description

The present invention relates to a lid attachment device and system.

As a device for attaching a lid to a container, for example, a lidding device for containers disclosed in Patent Document 1 is known. In this container lidding device, one end of the holding means is connected to the link and the other end is connected to the operating means. The lid is accommodated in the receiving portion of the holding means, and the lid is attached to the container by horizontally tilting the holding means from the slanted state by the movement of the link and the operating means.

Japanese Patent Application Laid-Open No. 2001-072009

In the lid member attaching device of Patent Document 1, it is necessary to incline and change the posture of the holding means in order to attach the lid to the container, which complicates the mechanism and control. In addition, since the holding means is of a size that covers the entire lid body and is heavy, the cost of the device capable of supporting this is increased.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a lid member mounting device and system that can solve the above-described conventional problems and that can be simplified and reduced in cost.

In order to solve the conventional problems described above, a lid member attaching device according to the present invention is a lid member attaching device for attaching a lid member to an opening of a container, comprising: a first arm; and a first end effector having a first elongated member, a second arm, a second end effector attached to the second arm and having a second elongated member, and a controller, The control unit is configured to, on the lid member that is placed on the container so as to cover the opening, the longitudinal directions of the first elongated member and the second elongated member are parallel to the horizontal plane. and the first elongated member and the second elongated member are arranged so that the center of the lid member is sandwiched between them in a direction crossing the longitudinal direction of the first elongated member, and the container It is configured to operate the first arm and the second arm to move the first elongate member and the second elongate member to the side.

According to this configuration, the lid member is attached to the container by moving the first elongated member and the second elongated member arranged so as to sandwich the center of the lid member between them toward the container. Therefore, in order to attach the lid to the container, a mechanism and control for tilting the first elongated member and the second elongated member are not required, and the lid member attaching device can be simplified. Moreover, since the lid member is not entirely covered with the first elongated member and the second elongated member, the weight of the lid member does not increase, and the increase in cost of the device capable of supporting the lid member can be suppressed.

In this lid member mounting device, the first end effector includes an attracting portion that attracts the lid member, and a rotating portion that rotates the attracting portion about a rotation axis parallel to the longitudinal direction of the first elongated member. , may further include:

According to this configuration, the cover member that is stored can be attached to the container by sucking the lid member that is being stored and directing the cover member downward by changing the direction of the suction portion. Therefore, the orientation of the stored lid member can be made different from the orientation of the lid member when attached to the container, and the degree of freedom in the orientation of the stored lid member can be increased.

In this lid member mounting device, the control section adsorbs the lid member by the adsorption section, places the lid member on the container, and attaches the lid member to the center of the lid member in a direction crossing the longitudinal direction of the first elongated member. and the first arm and the second arm may be operated so as to arrange the first elongated member and the second elongated member so as to sandwich the adsorption portion therebetween.

According to this configuration, when the cover member is pushed down by the first elongated member and the second elongated member, the suction portion holds the space between the easily deformable first elongated member and the second elongated member. This makes it possible to easily attach the lid member to the container while preventing deformation of the lid member.

In this lid member attaching device, the control section is configured to operate the first arm and the second arm so as to sequentially move the first elongated member and the second elongated member toward the container. may be According to this configuration, the lid member can be easily attached to the container while removing air from the container by pressing the lid member toward the container in order with the first elongated member and the second elongated member.

In this lid member attaching device, the first elongated member and the second elongated member may be formed of a round bar or a flat plate. According to this configuration, if each elongated member is a round bar, the area of contact with the lid member is small, so the pressing force can be reduced, and the cost of the device can be kept low. Further, if each elongated member is a flat plate, the contact area with the lid member is large, so the pressing pressure on the lid member can be reduced, and deformation of the lid member can be prevented.

This lid member attaching device may be configured to arrange the first elongated member and the second elongated member over the respective lid members of the plurality of containers arranged side by side. According to this configuration, since the first elongated member and the second elongated member are supported by the plurality of containers in the direction in which the containers are arranged, the lid member can be stably pushed down toward the container.

This lid member mounting device includes any one of the lid member mounting devices described above and a conveying section that conveys the containers, and the control section controls each of the plurality of containers that are sequentially conveyed by the conveying section. The first elongated member and the second elongated member may be arranged over the lid member. According to this configuration, the cover members can be simultaneously attached to the conveyed containers by the first elongated member and the second elongated member, thereby improving work efficiency.

This lid member attaching device further includes a camera that acquires an image of the container conveyed by the conveying unit, and the controller controls the movement of the first elongated member on the lid member based on the image. The longitudinal direction and the second longitudinal direction are parallel to the lid member, and the first longitudinal direction intersects the longitudinal direction of the first elongate member such that the center of the lid member is sandwiched between them. It may be configured to operate the first arm and the second arm to position the elongated member and the second elongated member. According to this configuration, by moving the first elongated member and the second elongated member according to the position of the container based on the camera image, the lid member can be attached to the container more reliably.

Advantageous Effects of Invention The present invention has the effect of being able to provide a lid member mounting device and system that have the configuration described above and that can be simplified and reduced in cost.

FIG. 1 is a schematic diagram showing a schematic configuration of a lid member attaching device according to an embodiment of the present invention. FIG. 2 is a functional block diagram schematically showing the configuration of a control unit in FIG. 1; FIG. 3(a) is a diagram showing a first end effector. FIG. 3(b) is a diagram showing a second end effector. FIG. 4 is a diagram showing a state in which the lid member is pushed down toward the container by the first elongated member and the second elongated member, as viewed from one side in the conveying direction. FIG. 5 is a view showing a state in which the lid member is pushed down toward the container by the first elongated member and the second elongated member, viewed from one side in the opposing direction. 6 is a perspective view showing a lid member mounting system including the lid member mounting device of FIG. 1. FIG. 7 is a top view of the lid attachment system of FIG. 6. FIG.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, in all the drawings, the same or corresponding parts are denoted by the same reference numerals, and redundant explanations are omitted. Further, in all the drawings, constituent elements for explaining the present invention are extracted and illustrated, and illustration of other constituent elements may be omitted. Furthermore, the present invention is not limited to the following embodiments.

(Embodiment)
<Configuration of Lid Member Mounting Device>
As shown in FIG. 1, a lid member attaching device 10 according to the present embodiment is a device for attaching a lid member to an opening of a container, and for example, a robot is used. For the robot, for example, a horizontal articulated robot is used. However, the lid member attaching device 10 is not limited to this, and may be a robot such as a vertical articulated robot.

The lid member attaching device 10 includes a first arm 20 , a second arm 30 , a first end effector 40 , a second end effector 50 , a controller 60 and a carriage 11 . For example, the control unit 60 is housed inside the carriage 11 .

A base shaft 14 is fixed to the upper surface of the carriage 11 . A first arm 20 and a second arm 30 are provided on the base shaft 14 so as to be rotatable around a rotation axis L<b>1 passing through the axis of the base shaft 14 . The first arm 20 and the second arm 30 are provided so as to have a vertical height difference. Thus, the lid member attaching device 10 is, for example, a coaxial dual-arm SCARA robot that controls the coaxially arranged first arm 20 and second arm 30 by one control unit 60 . Note that the first arm 20 and the second arm 30 are configured to operate independently or in association with each other.

The first arm 20 has a first arm portion 21 and a first wrist portion 22 . The second arm 30 has a second arm portion 31 and a second wrist portion 32 . Although the first arm 20 and the second arm 30 have substantially the same configuration here, they are not limited to this. For example, a form in which the arm portions 21 and 31 and the wrist portions 22 and 32 have different configurations between the first arm 20 and the second arm 30 may be adopted.

The first arm portion 21 is composed of a substantially rectangular parallelepiped first link 21a and a first link 21b, and the second arm portion 31 is composed of a substantially rectangular parallelepiped second link 31a and second b link 31b.

The base ends of the links 21a and 31a are connected to the base shaft 14 via the rotary joint J1, and rotate about the rotation axis L1 by the rotary joint J1. Each of the links 21b and 31b has its base end connected to the tip of each link 21a and 31a via a revolute joint J2, and rotates around the rotation axis L2 by the revolute joint J2.

Each wrist part 22, 32 is connected to the tip part of each link 21b, 31b via a direct-acting joint J3, and can move up and down with respect to each link 21b, 31b. A rotating joint J4 is provided at the lower end of each wrist portion 22, 32, and each mounting portion 24, 34 is provided at the lower end of the rotating joint J4. Each of the end effectors 40, 50 can be rotated around the rotation axis L3 by the rotary joint J4.

The first end effector 40 is provided at the tip of the first arm 20 and detachably connected to the first wrist portion 22 by the first mounting portion 24 . The second end effector 50 is provided at the tip of the second arm 30 and detachably connected to the second wrist portion 32 by the second mounting portion 34 . Details of the first end effector 40 and the second end effector 50 will be described later.

Each of the joints J1 to J4 of the first arm 20 and the second arm 30 is servo-controlled by the control unit 60 as an example of an actuator that relatively rotates or raises or lowers the two members connected to each joint. A drive motor (not shown), such as a servo motor, is provided. Further, each of the joints J1 to J4 has a rotation sensor (not shown) such as an encoder for detecting the rotational position of the drive motor, and a current sensor (not shown) for detecting the current controlling the rotation of the drive motor. ) and are provided.

<Configuration of control unit>
As shown in FIG. 2, the control unit 60 includes a computing unit 60a such as a CPU, a storage unit 60b such as ROM and RAM, and a servo control unit 60c. be. Note that the control unit 60 may be configured by a single control unit that performs centralized control, or may be configured by a plurality of control units that cooperate with each other to perform distributed control. Further, although the configuration in which the storage unit 60b is arranged in the control unit 60 is adopted, the present invention is not limited to this, and a configuration in which the storage unit 60b is provided separately from the control unit 60 may be adopted.

The storage unit 60b stores information such as a basic program as a robot controller and various fixed data. The calculation unit 60a controls various operations of the lid member attaching device 10 by reading and executing software such as a basic program stored in the storage unit 60b. That is, the computing section 60a generates a control command for the lid member attaching device 10 and outputs it to the servo control section 60c. The servo control unit 60c is configured to control the driving of the servo motors corresponding to the joints J1 to J4 of the arms 20 and 30 of the lid member attaching device 10 based on the control commands generated by the calculation unit 60a. there is

<Configuration of first end effector and second end effector>
As shown in FIGS. 3A and 4, the first end effector 40 includes a first base portion 41, a first rotating portion 42, a first support portion 43, a first elongated member 44 and a first suction portion 45. have. The first base portion 41 has a rectangular parallelepiped shape, has a mounting portion (not shown) mounted on the first mounting portion 24 on the upper surface, and is connected to the first rotating portion 42 on a side surface perpendicular to the upper surface. ing.

The first rotating portion 42 has, for example, a cylindrical shape and a first rotating shaft 42 a perpendicular to the side surface of the first base portion 41 . One end of the first rotating portion 42 is connected to the first base portion 41 so as to be rotatable about a first rotating shaft 42 a by a rotating actuator (not shown), and the other end is fixed to the first support portion 43 .

The first support portion 43 is attached to the first base portion 41 via the first rotating portion 42, and supports the first elongated member 44 and the first adsorption portion 45 in the direction away from the first base portion 41. . As a result, the first long member 44 and the first suction portion 45 are attached to the first base portion 41 via the first support portion 43 so as to be rotatable about the first rotation shaft 42 a of the first rotation portion 42 . there is

The first elongated member 44 extends, for example, in a direction parallel to the first rotating shaft 42a of the first rotating portion 42, and is formed of a square bar having a rectangular cross section perpendicular to the first longitudinal direction 44a. The first elongated member 44 has an end face perpendicular to the first longitudinal direction 44a and a side face along the first longitudinal direction 44a. One of the side surfaces of the first elongated member 44 is fixed to the first support portion 43, and has a side surface (first contact surface 44b) opposite to the surface fixed to the support portion 43. ing.

The first suction part 45 is made of an elastic material such as rubber, and has a cap shape having a first suction port 45a at its tip. The base end of the first adsorption portion 45 is connected to the first pipe 45b, and is fixed to the support portion 43 by the first pipe 45b.

The tip of the first adsorption portion 45 is arranged on the extension line of the first contact surface 44b of the first elongated member 44, or on the side opposite to the first rotating shaft 42a side of the first contact surface 44b. . The first suction port 45a is closer to the first rotating part 42 than the first elongated member 44, is parallel to the first contact surface 44b, and is parallel to the first rotating shaft 42a in a direction orthogonal to the first rotating shaft 42a. It opens in the direction away from the

The first adsorption unit 45 is connected to a vacuum generator (not shown) through a first pipe 45b. The vacuum generator is, for example, a device such as a vacuum pump or CONVUM (registered trademark) that generates a negative pressure in the first adsorption portion 45, and is provided on the carriage 11 or the like.

The first pipe 45b is provided with, for example, an on-off valve (not shown). By opening and closing the first pipe 45b with the on-off valve, adsorption and release by the first adsorption section 45 are performed. A controller 60 controls the operation of the vacuum generator and the opening and closing of the on-off valve. As a result, the internal space of the first adsorption portion 45 can be sucked through the first pipe 45b, and the lid member can be adsorbed.

The first elongated member 44 and the first suction unit 45 are configured so that each part of the first arm 20 rotates around each rotation axis L1, L2, L3 (FIG. 1) by the rotary joints J1, J2, J4 (FIG. 1). By doing so, it is possible to move in the left-right and front-rear directions. In addition, the first long member 44 and the first suction portion 45 are vertically moved by the translational joint J3 (FIG. 1) of the first wrist portion 22 of the first arm 20 moving up and down relative to the first link 21b. can be moved to Thus, the first arm 20 can move the first elongated member 44 and the first adsorption portion 45 .

As shown in FIGS. 3B and 4, the second end effector 50 includes a second base portion 51, a second rotating portion 52, a second support portion 53, a second elongated member 54, and a second suction portion 55. have. Since each part of the second end effector 50 is the same as each part of the first end effector 40, the description thereof will be omitted.

<Configuration of Lid Member Mounting System>
As shown in FIGS. 5 and 6, the lid member mounting system 70 includes the lid member mounting device 10, a transport section 71, and a supply section 72. As shown in FIGS. The conveying unit 71 supplies the container 80 to the lid member mounting device 10 , the supply unit 72 supplies the lid member 81 to the lid member mounting device 10 , and the lid member mounting device 10 mounts the lid member 81 to the container 80 .

The container 80 is made of resin such as polystyrene and polypropylene, and is a container for storing food such as a lunch box. The container 80 has, for example, a circular bottom portion 80a and an opening portion 80b. The diameter of the bottom portion 80a is smaller than the diameter of the opening portion 80b. However, the shape of the container 80 is not limited to this.

The lid member 81 is made of resin such as polystyrene and polypropylene, and covers the opening 80 b of the container 80 . The lid member 81 has, for example, a circular top portion 81a and an outer peripheral edge 81b. be. However, the shape of the lid member 81 is not limited to this, and may be a flat plate shape or the like.

In the lid member attaching system 70, for example, the lid member attaching device 10 and the supply portion 72 are arranged so as to sandwich the conveying portion 71 between them. Note that the direction in which the container 80 is transported by the transport unit 71 is referred to as the transport direction. A direction orthogonal to the conveying direction, in which the lid member attaching device 10 and the supply unit 72 face each other with the conveying unit 71 interposed therebetween, is referred to as a facing direction. Moreover, the direction orthogonal to the transport direction and the facing direction is the vertical direction.

The transport unit 71 is, for example, a belt conveyor and extends long in the transport direction. For example, the lid member attaching device 10 is positioned in front of the conveying section 71 so that the first end effector 40 is arranged on the upstream side in the conveying direction of the conveying section 71 and the second end effector 50 is arranged on the downstream side in the conveying direction. is provided in

A position adjusting portion 73 is provided in the conveying portion 71 on the upstream side of the lid member attaching device 10 . The position adjustment section 73 has a first guide section 73 a and a second guide section 73 b and adjusts the position of the container 80 on the transport section 71 .

The first guide portion 73a and the second guide portion 73b are flat plate-shaped, spaced apart from each other in the opposing direction, and provided parallel to the transport direction. In the conveying section 71, the first guide section 73a is arranged on the lid member attaching device 10 side, and the second guide section 73b is arranged on the supply section 72 side. The distance between the first guide portion 73 a and the second guide portion 73 b is set slightly larger than the maximum diameter of the container 80 .

Therefore, the position of the container 80 in the opposing direction is adjusted by passing the container 80 conveyed by the conveying portion 71 between the first guide portion 73a and the second guide portion 73b. As a result, the container 80 is arranged at a predetermined position with respect to the lid member attaching device 10 in the opposing direction. At least one of the first guide portion 73a and the second guide portion 73b may move in the opposing direction.

The supply unit 72 is a mounting table that supplies the cover member 81 . Depending on the number of end effectors in the lid attachment device 10, two feeders 72 are provided in the lid attachment system 70 in this embodiment. The two supply units 72 are arranged side by side in the transport direction, one supply unit 72 facing the first end effector 40 and the other supply unit 72 facing the second end effector 50 . The supply part 72 has a supply port 72a perpendicular to the facing direction and facing the end effectors 40 and 50, and supplies the cover member 81 from the supply port 72a.

In the supply portion 72, the lid member 81 is erected so that the top portion 81a is perpendicular to the opposing direction so that the top portion 81a is closer to the supply port 72a than the opening portion 80b. As a result, the cover member 81 can be supplied to the supply portion 72 from the opening on the side opposite to the supply port 72a, which is excellent in workability. In addition, dust or the like is less likely to adhere to the lid member 81 in the supply portion 72, and the supply portion 72 can hold the lid member 81 in a sanitary manner.

<Method of operating the lid member mounting device>
A method of operating the lid member attachment device 10 in the lid member attachment system 70 will be described with reference to FIGS. 3(a) to 7. FIG. This operating method is executed by the control unit 60 .

First, as shown in FIGS. 3A and 3B, the control unit 60 causes the first suction port 45a of the first suction unit 45 and the second suction port 55a of the second suction unit 55 to face each other. The first rotating portion 42 and the second rotating portion 52 are rotated about the first rotating shaft 42a and the second rotating shaft 52a, respectively, so as to be orthogonal to each other. However, if the cover member 81 of the supply portion 72 can be sucked by the first suction port 45a and the second suction port 55a, the first suction port 45a and the second suction port 55a are not limited to this orientation.

In this posture, the long members 44 and 54 are arranged so as to face each other and their longitudinal directions 44a and 54a are parallel to the conveying direction. Also, the first elongated member 44 is arranged above the first adsorption portion 45 , and the second elongated member 54 is arranged below the second adsorption portion 55 . The first adsorption section 45 and the second adsorption section 55 are arranged along the transport direction. Therefore, the first elongated member 44 and the second elongated member can be rotated compactly without interfering with each other.

Subsequently, the control unit 60 controls to open the on-off valves of the first pipe 45b and the second pipe 55b, sucks the first suction port 45a at the center of the lid member 81 of one supply unit 72, The second suction port 55 a is sucked to the center of the lid member 81 of the other supply portion 72 . The first suction port 45a and the second suction port 55a may be sucked simultaneously or sequentially. Each suction position is not limited to this as long as the first contact surface 44 b of the first elongated member 44 and the second contact surface 54 b of the second elongated member 54 face the lid member 81 .

Here, the suction ports 45a and the second suction ports 55a protrude toward the lid member 81 from the long members 44 and 54, respectively. Therefore, the suction portions 45 and 55 can suction the lid member 81 without being hindered by the long members 44 and 54 .

Then, the control section 60 moves the first end effector 40 and the second end effector 50 away from the supply section 72 by the first arm 20 and the second arm 30 respectively. Then, the control section 60 rotates the first rotating section 42 and the second rotating section 52 so that the first adsorbing section 45 and the second adsorbing section 55 face the conveying section 71 downward.

A plurality of containers 80 are conveyed by the conveying unit 71 while being spaced apart in the conveying direction. At this time, the position of the container 80 in the facing direction is arranged at a predetermined position from the lid member attaching device 10 by the position adjusting portion 73 . Then, the container 80 reaches in front of the lid member attaching device 10, and the conveying operation is stopped. The conveying unit 71 may perform an intermittent operation in which the conveying operation and its stop are repeated, or may stop the conveying operation in response to a signal from a sensor that detects the container 80 or the like.

Here, the control section 60 moves the first adsorption section 45 and the second adsorption section 55 downward. As a result, the lid member 81 sucked by the first suction port 45a of the first suction part 45 is superimposed on one container 80 of the two containers 80 arranged in front of the lid member mounting device 10, and the other container The lid member 81 sucked by the second suction port 55 a of the second suction portion 55 is superimposed on 80 . The lid member 81 that opens downward with the outer peripheral edge 81b below the top portion 81a covers the opening 80b of the container 80 that opens upward.

Then, the control unit 60 controls the on-off valves to be closed, and stops the adsorption of the first adsorption unit 45 and the second adsorption unit 55 . Thereby, the lid member 81 is placed on the container 80 . In addition, the first adsorption portion 45 and the second adsorption portion 55 are arranged in the arrangement direction and are arranged so as to abut on the lid member 81 .

Subsequently, the controller 60 moves the first elongated member 44 and the second elongated member 54 downward toward the container 80 side. At this time, the first suction portion 45 and the second suction portion 55 are deformed, and the first contact surface 44 b of the first elongated member 44 and the second contact surface 54 b of the second elongated member 54 contact the lid member 81 . come close to contact. Then, each of the long members 44 and 54 pushes the lid member 81 toward the container 80 side.

Here, in the facing direction, the first elongated member 44 is arranged closer to the supply unit 72 than the adsorption units 45 and 55 , and the second elongated member 54 is located closer to the lid member attaching device 10 than the adsorption units 45 and 55 . placed on the side. Therefore, the first elongated member 44 and the second elongated member 54 are parallel to each other and arranged on the lid member 81 so as to sandwich the center of the lid member 81 between them in the opposing direction. Press 81 downwards. Thereby, the lid member 81 is attached to the container 80 .

<Action, effect>
In the lid member attaching device 10, the first longitudinal direction 44a of the first elongated member 44 and the second longitudinal direction of the second elongated member 54 are parallel to the horizontal plane, and the top portion 81a of the lid member 81 stacked parallel to the Therefore, since the areas of the first elongated member 44 and the second elongated member 54 in contact with the lid member 81 are large, the depressed first elongated member 44 and the second elongated member 54 act on the lid member 81 . pressure becomes smaller. Therefore, the lid member 81 can be attached to the container 80 while preventing deformation of the lid member 81 .

In addition, the first elongated member 44 and the second elongated member 54 are arranged so as to sandwich the center of the lid member 81 between them in the direction (for example, facing direction) intersecting the first longitudinal direction 44a. . Therefore, force is applied more evenly to the lid member 81 by the first elongated member 44 and the second elongated member 54 . Therefore, the lid member 81 can be attached to the container 80 while preventing deformation of the lid member 81 .

Further, the lid member 81 is attached to the container 80 by linearly moving the first elongated member 44 and the second elongated member 54 toward the container 80 . In this way, it is not necessary to incline the first elongated member 44 and the second elongated member 54 in order to attach the lid member 81 to the container 80, and the mechanism and control can be simplified.

Also, since the first elongated member 44 and the second elongated member 54 abut on a part of the lid member 81 , the weight can be reduced compared to covering the entire lid member 81 . Therefore, it is possible to suppress an increase in the cost of the lid member mounting device 10 capable of supporting this.

Further, the first elongated member 44 and the second elongated member 54 are arranged so as to sandwich the first suction portion 45 and the second suction portion 55 between each other in a direction (for example, facing direction) intersecting the first longitudinal direction 44a. are placed. For this reason, when the first elongated member 44 and the second elongated member 54 are pressed down, the first suction portion is formed between the first elongated member 44 and the second elongated member 54 which are easily deformed in the lid member 81 . 45 and the second adsorption portion 55 are pressed. Therefore, the lid member 81 can be attached to the container 80 while preventing deformation of the lid member 81 .

The first adsorption portion 45 rotates around a first rotation shaft 42a parallel to the first longitudinal direction 44a to change its orientation, and the second adsorption portion 55 rotates around a second rotation shaft 52a parallel to the second longitudinal direction. Rotate and turn. Thereby, the attitude of each adsorption part 45, 55 when the lid member 81 is adsorbed in the supply part 72 and the attitude of each adsorption part 45, 55 when the lid member 81 is attached to the container 80 can be changed. Therefore, the degree of freedom in the direction of the lid member 81 in the supply portion 72 can be increased.

The first elongated member 44 and the second elongated member 54 are arranged over the lid members 81 on the respective containers 80 of the plurality (for example, two) of the containers 80 arranged in the first longitudinal direction 44a (for example, the transport direction). are placed. Thereby, even if the bottom portion 80a is smaller than the opening portion 80b and the container 80 is unstable, the long members 44 and 54 are supported by the bottom portions 80a of the plurality of containers 80 arranged in the first longitudinal direction 44a. Therefore, tilting of the long members 44 and 54 and the container 80 pushed down by them is reduced, and the lid member 81 can be attached to the container 80 more stably.

The first elongated member 44 and the second elongated member 54 are arranged over the lid members 81 on the respective containers 80 of the plurality of containers 80 sequentially conveyed by the conveying section 71 . As a result, the lid member 81 can be attached to a plurality of containers 80 at the same time, so that working efficiency can be improved.

The first elongated member 44 and the second elongated member 54 can be moved separately. Therefore, according to the size and shape of the lid member 81 and the position and number of the containers 80, the intervals and directions of the long members 44 and 54 are adjusted, and the long members 44 and 54 are arranged on the lid member 81. can do. Therefore, workability can be improved.

<Modification 1>
In the above configuration, the control unit 60 simultaneously moves the first elongated member 44 and the second elongated member 54 on the lid member 81 toward the container 80 to attach the lid member 81 to the container 80 . However, the control unit 60 may move the first elongated member 44 and the second elongated member 54 on the lid member 81 to the container 80 side in order to attach the lid member 81 to the container 80 .

In this case, for example, when the lid member 81 is pushed down by the first elongated member 44 , the lid member 81 inclines, and the gap between the lid member 81 and the container 80 is increased on the side of the second elongated member 54 from the first elongated member 44 . A gap opens in Since the air in the container 80 escapes through this gap, the lid member 81 can be easily attached to the container 80 by pressing the lid member 81 onto the container 80 with the second elongated member 54 .

Also, the first elongated member 44 and the second elongated member 54 can be moved separately. Therefore, when the cover member 81 is pushed down by the second long member 54 after the cover member 81 is pushed down by the first long member 44, the second long member 54 may be pushed down twice continuously. As a result, the lid member 81 can be more reliably attached to the container 80 without increasing the pressing force.

<Modification 2>
The first elongated member 44 may be formed of a round bar having a circular cross section perpendicular to the first longitudinal direction 44a. Also, the second elongated member 54 may be formed of a round bar having a circular cross section perpendicular to the second longitudinal direction. At least one of the first elongated member 44 and the second elongated member 54 may be a round bar.

As a result, since the first elongated member 44 and the second elongated member 54 are in line contact with the lid member 81, the pressure acting on the lid member 81 by each elongated member increases. Therefore, the pressing force by the long members 44 and 54 can be reduced, and the cost of the lid member attaching device 10 can be suppressed.

<Modification 3>
At least one of the first elongated member 44 and the second elongated member 54 may be formed of a flat plate. As a result, the contact area of each of the long members 44 and 54 with respect to the lid member 81 is large, and the pressure acting on the lid member 81 by each of the long members 44 and 54 is reduced. Therefore, deformation of the lid member 81 pressed by the long members 44 and 54 can be suppressed.

<Modification 4>
The lid member attachment system 70 may further include a camera 74 for acquiring an image of the container 80 conveyed by the conveying section 71, as shown in FIGS. In this case, the transport section 71 may not be provided with the position adjusting section 73 .

The camera 74 is arranged above the conveying section 71 on the upstream side of the lid member attaching device 10 . The camera 74 acquires an image of the container 80 on the transport section 71 and outputs it to the control section 60 . The control unit 60 acquires position information of the container 80 based on the image.

The control unit 60 operates the first arm 20 and the second arm 30 according to the positional information such that the first elongated member 44 and the second elongated member 54 sandwich the center of the lid member 81 therebetween. . In this case, the first longitudinal direction 44a of the first elongated member 44 and/or the second longitudinal direction of the second elongated member 54 may not be parallel to the conveying direction.

In this manner, the first elongated member 44 and the second elongated member 54 are displaced according to the position of the conveyed container 80 . Therefore, the lid member 81 can be attached to the container 80 more reliably.

<Other Modifications>
All of the lid member attaching devices 10 described above have two arms 20, 30 and end effectors 40, 50 displaced by the arms 20, 30, but may have three or more arms and end effectors.

All of the lid member attaching devices 10 described above are provided with the first suction portion 45 and the second suction portion 55 . However, the lid member attaching device 10 may not include the first adsorption section 45 and the second adsorption section 55 , or may include the first adsorption section 45 or the second adsorption section 55 .

From the above description, many modifications or other embodiments of the invention will be apparent to those skilled in the art. Accordingly, the above description is to be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the invention. Substantial details of construction and/or function may be changed without departing from the spirit of the invention.

INDUSTRIAL APPLICABILITY The lid member mounting device and system of the present invention are useful as a lid member mounting device, system, etc. that can be simplified and reduced in cost.

Reference Signs List 10: Lid member mounting device 20: First arm 30: Second arm 40: First end effector 44: First long member 44a: First longitudinal direction (longitudinal direction)
45: first adsorption part (adsorption part)
50: Second end effector 54: Second elongated member 54a: Second longitudinal direction (longitudinal direction)
60 : Control unit 70 : Lid member mounting system 71 : Transport unit 74 : Camera 80 : Container 80b : Opening 81 : Lid member

Claims (8)

A lid member attaching device for attaching a lid member to an opening of a container,
a first arm;
a first end effector attached to the first arm and having a first elongated member;
a second arm;
a second end effector attached to the second arm and having a second elongated member;
a control unit;
The first end effector is
an adsorption unit that adsorbs the lid member;
a rotating part that rotates the suction part around a rotation axis parallel to the longitudinal direction of the first elongated member;
The control unit
On the lid member placed on the container so as to cover the opening, each longitudinal direction of the first elongated member and the second elongated member is a direction parallel to a horizontal plane, and The first elongated member and the second elongated member are arranged so as to sandwich the center of the lid member therebetween in a direction crossing the longitudinal direction of the first elongated member, and the first elongated member is placed toward the container. operating the first arm and the second arm to move the elongated member and the second elongated member ;
The lid member is adsorbed by the adsorption portion and placed on the container, so that the center of the lid member and the adsorption portion are sandwiched between each other in a direction crossing the longitudinal direction of the first elongated member. operating the first arm and the second arm to position the first elongated member and the second elongated member;
When the cover member is pushed down by the first elongated member and the second elongated member, the adsorption portion presses between the first elongated member and the second elongated member. a lid member attachment device. 2. The apparatus according to claim 1, wherein the control unit is configured to operate the first arm and the second arm so as to sequentially move the first elongated member and the second elongated member toward the container. The lid member attachment device described. 3. The lid member mounting device according to claim 1, wherein said first elongated member and said second elongated member are formed of round bars or flat plates. The lid according to any one of claims 1 to 3 , wherein the first elongated member and the second elongated member are arranged over the lid member of each of the plurality of containers arranged side by side. Member mounting device. A lid member mounting device according to any one of claims 1 to 4 ;
A transport unit that transports the container,
The control unit is configured to arrange the first elongated member and the second elongated member over the lid members of each of the plurality of containers that are sequentially conveyed by the conveying unit, Lid mounting system. Further comprising a camera for acquiring an image of the container transported by the transport unit,
Based on the image, the control unit controls that, on the lid member, the longitudinal directions of the first elongated member and the second elongated member are parallel to a horizontal plane, and the first elongated member operate the first arm and the second arm so as to arrange the first elongated member and the second elongated member so as to sandwich the center of the lid member between them in a direction crossing the longitudinal direction of the 6. The lid attachment system of claim 5 , wherein the lid member attachment system is configured to allow a A lid member attaching device for attaching a lid member to an opening of a container,
a first arm;
a first end effector attached to the first arm and having a first elongated member;
a second arm;
a second end effector attached to the second arm and having a second elongated member;
a control unit;
The control unit
On the lid member placed on the container so as to cover the opening, each longitudinal direction of the first elongated member and the second elongated member is a direction parallel to a horizontal plane, and The first elongated member and the second elongated member are arranged so as to sandwich the center of the lid member therebetween in a direction intersecting the longitudinal direction of the first elongated member, and the first elongated member is placed toward the container. operating the first arm and the second arm to move the elongated member and the second elongated member;
A lid member attaching device configured to operate the first arm and the second arm so as to sequentially move the first elongated member and the second elongated member toward the container. A lid member attaching device for attaching a lid member to an opening of a container,
a first arm;
a first end effector attached to the first arm and having a first elongated member;
a second arm;
a second end effector attached to the second arm and having a second elongated member;
a control unit;
The control unit
On the lid member placed on the container so as to cover the opening, each longitudinal direction of the first elongated member and the second elongated member is a direction parallel to a horizontal plane, and The first elongated member and the second elongated member are arranged so as to sandwich the center of the lid member therebetween in a direction crossing the longitudinal direction of the first elongated member, and the first elongated member is placed toward the container. operating the first arm and the second arm to move the elongated member and the second elongated member;
A lid member attachment device configured to position the first elongated member and the second elongated member over the respective lid members of a plurality of the containers arranged side by side.

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